System for processing three-dimensional shape data

• US 6,128,405 A
• Filed: 08/27/1997
• Issued: 10/03/2000
• Est. Priority Date: 08/30/1996
• Status: Expired due to Term

• Current Assignee: Minolta Co., Ltd. (Konica Minolta Inc.)
• Original Assignee: Minolta Co., Ltd. (Konica Minolta Inc.)
• Inventors: Fujii, Eiro
• Primary Examiner(s): Au, Amelia
• Assistant Examiner(s): AHMED, SAMIR ANWAR
• Application Number:
  US08/917,910
• Time in Patent Office: 1,133 Days
• Field of Search: 382/108, 382/154, 382/280, 382/293, 348/138, 348/147, 348/213, 348/262, 348/580, 356/4.03, 356/376, 356/375, 250/559.22, 250/559.05, 702/94, 702/95, 702/150, 702/151, 702/152, 702/153, 702/159, 702/167, 702/FOR 131, 702/FOR 144, 702/FOR 145
• US Class Current: 382/154
• CPC Class Codes: G01B 11/2509 Color coding
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

In reproducing an object from a plurality of geometric models representing the shape of the object as viewed from different directions around an axis, each of the models is rotated about an axis specified by axis data, a region of each of the models overlapping another one of the models is extracted, and the degree of displacement in the entire set of the models is calculated. This operation is repeated to output a set of the geometric models as rotated about the axis when the degree of displacement is minimum. In this way, a group of items of shape data is obtained which represents a plurality of geometric models corresponding to one object and matched in position with high accuracy.

Claims

1. A three-dimensional photographing system comprising:

a camera for photographing the shape of an object from positions around an axis in directions different from one another and specifying angle data indicating the rotational angle of each of the directions relative to another;

a means for rotating partial geometric models photographed by the camera about a provisional axis specified by provisional axis data indicating the three-dimensional position of the axis in accordance with the relative rotational angle;

an extraction means for extracting a region of each of the partial geometric models overlapping another one of the models,

a calculation means for calculating the degree of displacement of the entire set of partial geometric models;

an alteration means for altering the provisional axis data;

a repetition means for rotating the overlapping region about the provisional axis as shifted every time the provisional axis data is altered and causing the calculation means to calculate the degree of displacement, and;

an output unit for outputting a set of the partial geometric models as rotated around the provisional axis when the degree of displacement is minimum.

2. A three-dimensional photographing system of claim 1, herein said repetition means has a detector which detects the degree of displacement, when the degree of displacement is allowable, the repetition means is stopped.

3. A three-dimensional photographing system of claim 1, wherein said repetition means has a counter means which counts the number of times the repetition means is stopped.

4. A three-dimensional photographing system of claim 1, wherein said camera projects a slit beam.

5. A three-dimensional image processing apparatus for producing image data indicating the shape of an object from a plurality of partial geometric models representing the shape of the object as viewed from respective positions around the axis of the object in directions different from one another, comprising:

an input unit for inputting a three-dimensional measurement data as to the plurality of partial geometric models representing the shape of the object;

a coordinate transformation unit for position-matching the three-dimensional measurement data so as to reproduce the object, based on axis data indicating the three-dimensional position of the axis and angle data indicating the rotational angle of the directions relative to one another;

an axis data correction unit for correcting the axis data in accordance with the degree of displacement resulting when each of the partial geometric models is rotated about the axis specified by the axis data in accordance with the relative rotational angle, and;

an output unit for outputting a data set of the partial geometric models as rotating the partial geometric models in accordance with the relative rotational angle based on the axis data corrected by the axis data correction unit.

6. A three-dimensional data processing apparatus for three-dimensionally position-matching a plurality of partial geometric models representing the shape of an object within a visible range as the object is viewed from respective positions around an axis in directions different from one another, based on axis data indicating the three-dimensional position of the axis and angle data indicating the rotational angle of the directions relative to one another, the three-dimensional data processing apparatus comprising:

a rotation device for rotating the partial geometric models in accordance with the relative rotational angle and tentatively matching the models in position,

an extraction device for extracting from each of the models tentatively matched in position a region thereof overlapping another one of the partial geometric models;

a calculator for calculating the degree of displacement of the overlapping regions from one another in the entire set of the models tentatively matched in position;

a corrector for repeating correction of position matching by rotating at least the overlapping regions of the models about an axis different from the axis used in the preceding correction, in accordance with the relative rotational angle, and repeating calculation of the degree of displacement of the overlapping regions from one another, until a predetermined requirement is fulfilled; and

an output device for outputting a data set of the partial geometric models as rotating the partial geometric models in accordance with the relative rotational angle based on the axis data corrected by the corrector.

7. A three-dimensional photographing apparatus of claim 6, wherein the three-dimension photographing apparatus uses a reference object having two planar faces forming a ridge therebetween, and has means for producing data as to the three-dimensional position of the ridge as the axis data with reference to a geometric model of the reference object.

8. A three-dimensional photographing system comprising:

a camera for photographing an object;

a photographic means for taking photographs by the camera from positions around an axis in directions different from one another;

a rotating means for rotating an object image photographed by the camera about a provisional axis in accordance with the relative rotational angle;

an extraction means for extracting a region of each of the object images overlapping another one of the object images;

a calculation means for calculating the amount of displacement of the entire set of object images;

an alteration means for altering the provisional axis data;

a repetition means for repeating to perform the rotating means, extraction means, calculation means, and alteration means until the amount of displacement of the entire set of objects is smaller than a predetermined amount, and;

an output unit for outputting a set of the object images as rotated around the axis when the amount of displacement is smaller than predetermined amount.

9. A three-dimensional photographing system comprising:

a camera for photographing an object;

a photographic means for taking photographs by the camera from positions around an axis in directions different from one another;

a rotating means for rotating an object image photographed by the camera about a provisional axis in accordance with the relative rotational angle;

an extraction means for extracting a region of each of the object images overlapping another one of the object images;

a calculation means for calculating the amount of displacement of the entire set of object images;

an alteration means for altering the provisional axis data;

a repetition means for causing repetition of operations of the rotating means, extraction means, calculation means, and alteration means, until the number of repetition times comes to a predetermined number, and;

an output unit for outputting a set of the object images as rotated around the axis when the amount of displacement is minimum.

10. A three-dimensional image processing process for producing image data indicating the shape of an object from three-dimensional measurement data as to a plurality of partial geometric models, representing the shape of the object as viewed from respective positions around the axis of the object in directions different from one another, the process comprising:

the step of position-matching the three-dimensional measurement data so as to reproduce the object, based on axis data indicating the three-dimensional position of the axis and angle data indicating the rotational angle of the directions relative to one another,

the step of correcting the axis data in accordance with the degree of displacement resulting when each of the partial geometric models is rotated about the axis specified by the axis data in accordance with the relative rotational angle, and;

the step of rotating the partial geometric models in accordance with the relative rotational angle based on the axis data corrected by the axis data correcting step.

11. A method of three-dimensional image processing comprising the steps of:

(a) photographing by a camera from positions around an axis in directions different from one another;

(b) rotating an object image photographed by the camera about a provisional axis in accordance with the relative rotational angle;

(c) extracting a region of each of the object images overlapping another one of the object images;

(d) calculating the amount of displacement of the entire set of object images;

(e) altering the provisional axis data;

(f) repeating to perform the steps (b),(c),(d), and (e), until the amount of displacement of the entire set of object images is smaller than a predetermined amount, and;

(g) producing a set of the object images as rotated around the axis when the amount of displacement is smaller than predetermined amount.

12. A method of three-dimensional image processing comprising the steps of:

(a) photographing by a camera from positions around an axis in directions different from one another;

(b) rotating an object image photographed by the camera about a provisional axis;

(c) extracting a region of each of the object images overlapping another one of the object images;

(d) calculating the amount of displacement of the entire set of object images;

(e) altering the provisional axis data;

(f) repeating to perform the steps (b),(c),(d), and (e), until the number of repeating times comes to a predetermined number, and;

(g) producing a set of the object images as rotated around the axis when the amount of displacement is minimum.

13. A computer program product for use in a three-dimensional data processing system for three-dimensionally position-matching a plurality of partial geometric models representing the shape of an object within a visible range as the object is viewed from respective positions around an axis in directions different from one another, based on axis data indicating the three-dimensional position of the axis and angle data indicating the rotational angle of the directions relative to one another, the computer program product comprising:

means for rotating the partial geometric models in accordance with the relative rotational angle and tentatively matching the models in position,

means for extracting from each of the models tentatively matched in position a region thereof overlapping another one of the partial geometric models,

means for calculating the degree of displacement of the overlapping regions from one another in the entire set of the models tentatively matched in position, and

means for repeating correction of position matching by rotating at least the overlapping regions of the models about an axis different from the axis used in the preceding correction step, in accordance with the relative rotational angle and repeating calculation of the degree of displacement of the overlapping regions from one another, until a predetermined requirement is fulfilled.

14. A three-dimensional photographing apparatus comprising:

a device for obtaining an image data of an object from positions around an axis;

a device for detecting a degree of displacement of a plurality of geometric models by rotating said plurality of geometric models about a provisional axis;

a device for shifting said provisional axis to a new provisional axis when the degree of displacement is detected to be out of a range of predetermined values; and

a device for outputting a set of the geometric models when the degree of displacement is within the range of predetermined values.

15. The apparatus of claim 14, wherein the device for shifting said provisional axis sets an optimal axis when the degree of displacement is detected to be in the range of predetermined values.

16. A method of three-dimensional image processing comprising the steps of:

obtaining an image data of an object from positions around an axis;

detecting a degree of displacement of a plurality of geometric models by rotating said plurality of geometric models about a provisional axis;

shifting said provisional axis to a new provisional axis when the degree of displacement is detected to be out of a range of predetermined values; and

outputting a set of the geometric models when the degree of displacement is within the range of predetermined values.

17. The apparatus of claim 16, wherein the step of shifting said provisional axis, further includes the step of setting an optimal axis when the degree of displacement is detected to be in the range of predetermined values.

18. A three-dimensional photographing apparatus comprising;

a device for obtaining image data of at least three images of an object from positions around an axis;

a device for detecting a degree of displacement of at least three geometric models based on two overlapped regions by rotating said geometric models about a provisional axis;

a device for shifting said provisional axis to a new provisional axis when the degree of displacement is detected to be out of a range of predetermined values; and

a device for outputting a set of the geometric models when the degree of displacement is within the range of predetermined values.

19. The apparatus of claim 18, wherein the device for shifting said provisional axis sets an optimal axis when the degree of displacement is detected to be in the range of predetermined values.

20. A three-dimensional photographing apparatus comprising;

a device for obtaining image data of an object from positions around an axis;

a device for detecting a degree of displacement of geometric models based on overlapped regions by rotating said geometric models about a provisional axis;

a device for shifting said provisional axis to a new provisional axis when the degree of displacement is detected to be out of a range of predetermined values; and

a device for outputting a set of the geometric models when the degree of displacement is within the range of predetermined values.

21. The apparatus of claim 20, wherein the device for shifting said provisional axis sets an optimal axis when the degree of displacement is detected to be in the range of predetermined values.

22. A three-dimensional photographing apparatus comprising:

a device for obtaining data of at least two images of an object from positions around an axis;

a first detecting device for detecting a first degree of displacement of a plurality of geometric models by rotating said geometric models around a first axis;

a second detecting device for detecting a second degree of displacement by rotating said geometric models around a second axis;

a device for determining an optimal axis chosen from one of said first axis and said second axis, by comparing the first degree of displacement with the second degree of displacement; and

a device for outputting a set of the geometric models about the optimal axis when a degree of displacement is within a range of predetermined values.

23. The apparatus of claim 22, wherein the device for determining an optimal axis sets a new second axis when the degree of displacement is detected to be out of the range of predetermined values.